Model Based Path Optimization for Valet Parking with Trailer

摘要

In this article, an approach for parking with trailer is designed. The path planning for backward parking of a truck and trailer vehicle is a central aspect, especially the path optimization. For calculating the path a polynomial approach is applied. The used kinematic single-track model and assumed smooth signals lead to a polynomial approach, where the starting and ending data like position, angle, curvature, and its derivatives are interpolated. In this approach there appear degrees of freedom in the solution which interpolates the data independently of the choice for the mentioned variables. The problem can be stated as an optimization problem and the free parameters are optimized.